bluepulsar
338 lines
14 KiB
Python
338 lines
14 KiB
Python
import cv2
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import numpy as np
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import time
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class Tracker:
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def __init__(self,
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adaptive,
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cuda,
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config_tracker=None,
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lower_threshold=12.0,
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upper_threshold=18.0,
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loop_closure_interval=1,
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dis_preset='medium',
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verbose=False):
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# Check if OpenCV is built with CUDA support
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# if cuda and not cv2.cuda.getCudaEnabledDeviceCount():
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# # print("Warning: CUDA requested but OpenCV not built with CUDA support or no CUDA device found. Falling back to CPU.")
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# cuda = False
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self.cuda = cuda
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self.verbose = verbose
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self.__loop_closure_interval = loop_closure_interval
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self.__frame_count = 0
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dis_preset = config_tracker["dis_preset"]
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loop_closure_interval = config_tracker["loop_closure_interval"]
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self.__algorithm = config_tracker["algorithm"]
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# Conditionally import torch only if RAFT algorithm is used
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self.torch = None
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if self.__algorithm == "raft":
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import torch
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self.torch = torch
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if self.__algorithm == "raft" and (not self.cuda or not self.torch.cuda.is_available()):
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self.__algorithm = "dis"
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if self.verbose:
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print("No CUDA available, falling back to OPENCV DIS optical flow")
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if self.__algorithm == "raft":
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### RAFT
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self.__raft_device = "cuda"
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print(f"RAFT device: {self.__raft_device}")
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self.__raft_model = self.setup_simple_raft()
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self.__raft_ref_frame = None
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self.__raft_ref_tensor = None
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elif self.__algorithm == "dis":
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# DIS method - optimize for speed
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if dis_preset == 'ultrafast':
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preset = cv2.DISOPTICAL_FLOW_PRESET_ULTRAFAST
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elif dis_preset == 'fast':
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preset = cv2.DISOPTICAL_FLOW_PRESET_FAST
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else:
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preset = cv2.DISOPTICAL_FLOW_PRESET_MEDIUM
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self.__tracking_inst = cv2.DISOpticalFlow_create(preset)
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# Aggressive optimization for CPU
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self.__tracking_inst.setFinestScale(config_tracker["dis_mode"]) # Skip finest pyramid level (2x faster)
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# else:
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# # CUDA flow method with stream support
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# self.__tracking_inst = cv2.cuda.FarnebackOpticalFlow_create()
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# # Create CUDA stream for async operations
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# self.__cuda_stream = cv2.cuda.Stream()
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self.__fine_base_frame_queue = []
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self.__fine_flow_queue = []
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self.__prev_fine_flow = None
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self.__adaptive = adaptive
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self.__lower_threshold = config_tracker["lower_threshold"] # error lower than threshold will close the loop
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self.__upper_threshold = config_tracker["upper_threshold"] # error greater than threshold will add new reference frame
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def track(self, frame):
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"""Main tracking function that dispatches to CUDA or CPU implementation"""
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if self.__algorithm == "raft":
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return self.track_raft(frame)
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elif self.__algorithm == "dis":
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if frame.ndim == 3:
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frame = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
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return self.track_cpu(frame)
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def track_cpu(self, frame):
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"""CPU-based optical flow tracking"""
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frame_height, frame_width = frame.shape[:2]
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if self.__adaptive:
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if not self.__fine_base_frame_queue:
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self.__fine_base_frame_queue.append(frame)
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# Pre-compute meshgrid for remap operations
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x = np.linspace(0, frame_width - 1, frame_width, dtype='float32')
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y = np.linspace(0, frame_height - 1, frame_height, dtype='float32')
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self.map = np.array(np.meshgrid(x, y)).transpose((1, 2, 0))
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# Pre-allocate with correct dtype
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self.__fine_flow_queue.append(
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np.zeros((frame_height, frame_width, 2), dtype=np.float32))
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self.__prev_fine_flow = np.zeros(
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(frame_height, frame_width, 2), dtype=np.float32)
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return self.__fine_flow_queue[-1]
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else:
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self.__frame_count += 1
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# Only check loop closure periodically (expensive operation)
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if self.__frame_count % self.__loop_closure_interval == 0:
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self.__checkLoopClosure(frame)
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# CPU optical flow computation
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self.__prev_fine_flow = self.__tracking_inst.calc(
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self.__fine_base_frame_queue[-1], frame,
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self.__prev_fine_flow)
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# Direct numpy addition is faster than cv2.add
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final_flow = self.__fine_flow_queue[-1] + self.__prev_fine_flow
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# Use fine flow for error estimation
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error = self.__getForwardBackwardError(
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self.__fine_base_frame_queue[-1], frame,
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self.__prev_fine_flow)
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if error > self.__upper_threshold:
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self.__fine_base_frame_queue.append(frame)
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self.__fine_flow_queue.append(final_flow)
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self.__prev_fine_flow = np.zeros(
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(frame_height, frame_width, 2), dtype=np.float32)
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return final_flow
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else:
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if not self.__fine_base_frame_queue:
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self.__fine_base_frame_queue.append(frame)
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self.__prev_fine_flow = self.__tracking_inst.calc(
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self.__fine_base_frame_queue[-1], frame,
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self.__prev_fine_flow)
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return self.__prev_fine_flow
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# def track_2dto3d(self, flow):
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# decompose_obj = nHHD(grid=(flow.shape[0], flow.shape[1]), spacings=(18, 18))
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# flag,output = decompose_obj.get_force(flow, verbose=0)
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# return output
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def __getForwardBackwardError(self, I0, I1, flow):
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# if self.cuda:
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# flow_map = cv2.cuda.add(self.map, flow)
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# map_x, map_y = cv2.cuda.split(flow_map)
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# z = cv2.cuda.remap(I1,
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# map_x,
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# map_y,
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# interpolation=cv2.INTER_CUBIC,
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# borderMode=cv2.BORDER_REPLICATE)
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# t = I0.clone()
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# t = t.convertTo(rtype=cv2.CV_32FC1, dst=t)
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# z = z.convertTo(rtype=cv2.CV_32FC1, dst=z)
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# rev = cv2.cuda.absSum(cv2.cuda.subtract(
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# t, z))[0] / t.size()[0] / t.size()[1]
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# else:
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# Optimized CPU path - avoid redundant type conversions
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flow_map = self.map + flow
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z = cv2.remap(I1,
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flow_map[:, :, 0],
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flow_map[:, :, 1],
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interpolation=cv2.INTER_CUBIC, # INTER_LINEAR faster than INTER_CUBIC
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borderMode=cv2.BORDER_REPLICATE)
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# Use in-place operations when possible
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if I0.dtype != np.float32:
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diff = z.astype('float32') - I0.astype('float32')
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else:
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diff = z - I0
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rev = np.mean(np.abs(diff))
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return rev
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def __checkLoopClosure(self, frame): # update (prune) the frame queue with loop closure detection
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for i in range(len(self.__fine_base_frame_queue) - 2, -1, -1):
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f = self.__tracking_inst.calc(
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self.__fine_base_frame_queue[i], frame, None)
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error = self.__getForwardBackwardError(
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self.__fine_base_frame_queue[i], frame, f)
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if error < self.__lower_threshold:
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self.__fine_base_frame_queue = self.__fine_base_frame_queue[:i+1]
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self.__fine_flow_queue = self.__fine_flow_queue[:i + 1]
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return True
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return False
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def reset(self):
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if self.__algorithm == "raft":
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self.__raft_ref_frame = None
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self.__raft_ref_tensor = None
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elif self.__algorithm == "dis":
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self.__fine_base_frame_queue = []
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self.__fine_flow_queue = []
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self.__prev_fine_flow = None
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self.__frame_count = 0
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def getFrameQueueLength(self):
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return len(self.__fine_base_frame_queue)
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### RAFT ###
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def setup_simple_raft(self):
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"""
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Setup a simpler version using available models with performance optimizations
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"""
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import torchvision.transforms as T
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from torchvision.models.optical_flow import raft_large
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# Load model and move to GPU
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model = raft_large(pretrained=True, progress=False).to(self.__raft_device)
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model = model.eval()
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if self.verbose:
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print(f"RAFT model loaded on {self.__raft_device}")
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return model
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def _preprocess_frame_to_tensor(self, frame):
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"""Efficiently convert numpy frame to RAFT-ready tensor"""
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# Ensure contiguous memory for faster tensor conversion
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if not frame.flags['C_CONTIGUOUS']:
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frame = np.ascontiguousarray(frame)
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# Upload to device as uint8 first to save bandwidth (4x less data than float32)
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tensor = self.torch.from_numpy(frame).permute(2, 0, 1)
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# Pin memory for faster CPU-GPU transfer (similar to DataLoader pin_memory=True)
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if self.__raft_device == 'cuda':
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# Pin memory before transferring to GPU (must be on CPU first)
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if not tensor.is_pinned():
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tensor = tensor.pin_memory()
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tensor = tensor.to(self.__raft_device, non_blocking=True)
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else:
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tensor = tensor.to(self.__raft_device)
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# Convert to float and normalize on device
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tensor = tensor.float() / 255.0
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# Normalize to [-1, 1]
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tensor = (tensor - 0.5) * 2.0
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# Add batch dimension
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tensor = tensor.unsqueeze(0)
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return tensor
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def track_raft(self, frame, gpu = False):
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# No need to copy if we just read
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# frame is expected to be (H, W, 3) or (H, W)
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if frame.ndim == 2:
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frame = cv2.cvtColor(frame, cv2.COLOR_GRAY2RGB)
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elif frame.shape[2] == 3:
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# Assume BGR input from OpenCV
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frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
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if self.__raft_ref_frame is None:
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self.__raft_ref_frame = frame
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self.__raft_ref_tensor = self._preprocess_frame_to_tensor(frame)
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prev_tensor = self.__raft_ref_tensor
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curr_tensor = self._preprocess_frame_to_tensor(frame)
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if self.verbose:
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t0 = time.perf_counter()
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with self.torch.inference_mode():
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if self.__raft_device == 'cuda':
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with self.torch.amp.autocast('cuda'):
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flow = self.__raft_model(prev_tensor, curr_tensor)
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else:
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flow = self.__raft_model(prev_tensor, curr_tensor)
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predicted_flows = flow[-1]
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if self.verbose:
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t1 = time.perf_counter()
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print(f"RAFT time: {t1 - t0}")
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# Optimize tensor->numpy conversion: contiguous() ensures optimal memory layout
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flow_np = predicted_flows[0].contiguous().cpu().numpy()
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# Transpose to (H, W, 2) format expected by draw_arrows
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flow_np = flow_np.transpose(1, 2, 0) # (2, H, W) -> (H, W, 2)
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return flow_np
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# def track_cuda(self, frame):
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# """CUDA-accelerated optical flow tracking"""
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# frame_height, frame_width = frame.shape[:2]
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# frame = cv2.cuda_GpuMat(frame)
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# if self.__adaptive:
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# if not self.__fine_base_frame_queue:
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# self.__fine_base_frame_queue.append(frame)
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# # Pre-compute meshgrid for remap operations
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# x = np.linspace(0, frame_width - 1, frame_width, dtype='float32')
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# y = np.linspace(0, frame_height - 1, frame_height, dtype='float32')
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# self.map = np.array(np.meshgrid(x, y)).transpose((1, 2, 0))
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# cuMat = cv2.cuda_GpuMat()
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# cuMat.upload(self.map)
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# self.map = cuMat
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# self.__fine_flow_queue.append(
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# cv2.cuda_GpuMat(frame.size(), cv2.CV_32FC2, (0.0, 0.0)))
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# self.__prev_fine_flow = cv2.cuda_GpuMat(
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# frame.size(), cv2.CV_32FC2, (0.0, 0.0))
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# return self.__fine_flow_queue[-1]
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# else:
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# self.__frame_count += 1
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# # Only check loop closure periodically (expensive operation)
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# if self.__frame_count % self.__loop_closure_interval == 0:
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# self.__checkLoopClosure(frame)
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# # Use CUDA stream for async optical flow computation
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# self.__prev_fine_flow = self.__tracking_inst.calc(
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# self.__fine_base_frame_queue[-1], frame,
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# self.__prev_fine_flow, self.__cuda_stream)
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# final_flow = cv2.cuda.add(self.__fine_flow_queue[-1],
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# self.__prev_fine_flow,
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# stream=self.__cuda_stream)
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# # Use fine flow for error estimation
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# error = self.__getForwardBackwardError(
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# self.__fine_base_frame_queue[-1], frame,
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# self.__prev_fine_flow)
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# if error > self.__upper_threshold:
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# self.__fine_base_frame_queue.append(frame)
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# self.__fine_flow_queue.append(final_flow)
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# self.__prev_fine_flow = None
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# return final_flow
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# else:
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# if not self.__fine_base_frame_queue:
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# self.__fine_base_frame_queue.append(frame)
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# self.__prev_fine_flow = self.__tracking_inst.calc(
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# self.__fine_base_frame_queue[-1], frame,
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# self.__prev_fine_flow, self.__cuda_stream)
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# return self.__prev_fine_flow |